蔬菜采摘机器人通用夹持机构设计——基于UG和ADMAS联合仿真

为了提高夹持机构的设计效率和精度,提出了一种新的采摘机器人通用夹持机构的同步设计优化方法,将UG和ADMAS软件引入到了夹持机构的设计过程中,并利用软件的联合虚拟仿真功能,实现了夹持机构的合理布局和夹紧力的计算与同步优化。利用夹持机构的加工工序,在UG软件中对夹持机构进行了布局,并通过运动约束的添加使夹持机构处于完全打开状态。将UG夹持机构模型导入到ADMAS软件中进行了动力学仿真,通过计算得到了影响弹簧夹紧力关键点变量的敏感度,取对弹簧夹紧力影响较大的点进行了优化,得到了弹簧产生最大夹紧力时变量点的弹簧位移,从而实现了夹持机构的优化设计。最后,对夹持机构的运动性能进行了仿真计算,为夹持机构的稳定性设计提供了理论依据。

General Clamping Mechanism Design of Vegetable Picking Robot Based on the Combination of UG and ADMAS

In order to improve the clip to mechanism design efficiency and accuracy, this paper proposes a new picking robot universal clamping mechanism of synchronous design optimization method, UG and ADMAS software were intro-duced to the clamping mechanism design process, and use the software to virtual simulation function, the realization of the clamping mechanism of reasonable layout and clamping force calculation and synchronous optimization. The clamping mechanism is arranged in the UG software by the machining process of the clamping mechanism, and the clamping mech-anism is in a completely open state through the adding of the movement restriction. Will UG clip to mechanism model was imported into ADMAS software in the dynamic simulation, obtained by calculating the effect of the spring clamping force key variables sensitivity, take on the spring clamping force effect of the larger point is optimized, the spring to generate maximum clamping force when the variable spring displacement, so as to realize the clamping mechanism optimization de-sign. Finally, the motion performance of the clamping mechanism is simulated and calculated, which provides a theoreti-cal basis for the stability design of the clamping mechanism.